A Decentralized Energy-Optimal Control Framework for Connected Automated Vehicles at Signal-Free Intersections
arXiv:1602.03786 · doi:10.1016/j.automatica.2018.03.056
Abstract
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization requirement. We show that the solution of the throughput maximization problem depends only on the hard safety constraints imposed on CAVs and its structure enables a decentralized optimal control problem formulation for energy minimization. We present a complete analytical solution of these decentralized problems and derive conditions under which feasible solutions satisfying all safety constraints always exist. The effectiveness of the proposed solution is illustrated through simulation which shows substantial dual benefits of the proposed decentralized framework by allowing CAVs to conserve momentum and fuel while also improving travel time.
17 pages, 7 figures, Automatica, 2018
References in corpus (1)
Cited by in corpus (64)
- A Review on Energy, Environmental, and Sustainability Implications of Connected and Automated Vehicles
- Optimal Time Trajectory and Coordination for Connected and Automated Vehicles
- Blue Phase: Optimal Network Traffic Control for Legacy and Autonomous Vehicles
- Cooperative Automated Vehicles: a Review of Opportunities and Challenges in Socially Intelligent Vehicles Beyond Networking
- Optimal Control of Connected and Automated Vehicles at Multiple Adjacent Intersections
- Enhanced Mobility With Connectivity and Automation: A Review of Shared Autonomous Vehicle Systems
- Decentralized Optimal Coordination of Connected and Automated Vehicles for Multiple Traffic Scenarios
- Autonomous and Semi-Autonomous Intersection Management: A Survey
- A Convex Optimal Control Framework for Autonomous Vehicle Intersection Crossing
- Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
- Time-Optimal Coordination for Connected and Automated Vehicles at Adjacent Intersections
- Experimental Validation of a Real-Time Optimal Controller for Coordination of CAVs in a Multi-Lane Roundabout
- A Research and Educational Robotic Testbed for Real-time Control of Emerging Mobility Systems: From Theory to Scaled Experiments
- Demonstration of a Time-Efficient Mobility System Using a Scaled Smart City
- Cooperative Behavior Planning for Automated Driving using Graph Neural Networks
- On Team Decision Problems with Nonclassical Information Structures
- Zero-Shot Autonomous Vehicle Policy Transfer: From Simulation to Real-World via Adversarial Learning
- Conditions to Provable System-Wide Optimal Coordination of Connected and Automated Vehicles
- A Decentralized Time- and Energy-Optimal Control Framework for Connected Automated Vehicles: From Simulation to Field Test
- A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles
- Automatic Intersection Management in Mixed Traffic Using Reinforcement Learning and Graph Neural Networks
- Learning to Control and Coordinate Mixed Traffic Through Robot Vehicles at Complex and Unsignalized Intersections
- Mixed platoon control of automated and human-driven vehicles at a signalized intersection: dynamical analysis and optimal control
- Energy-Optimal Coordination of Connected and Automated Vehicles at Multiple Intersections
- Cooperative Driving at Unsignalized Intersections Using Tree Search
- A Game-Theoretic Analysis of the Social Impact of Connected and Automated Vehicles
- Stochastic Time-Optimal Trajectory Planning for Connected and Automated Vehicles in Mixed-Traffic Merging Scenarios
- An Optimal Coordination Framework for Connected and Automated Vehicles in two Interconnected Intersections
- A Hysteretic Q-learning Coordination Framework for Emerging Mobility Systems in Smart Cities
- An Energy-Optimal Framework for Assignment and Trajectory Generation in Teams of Autonomous Agents
- Optimal Vehicle Dynamics and Powertrain Control for Connected and Automated Vehicles
- Digital Twin-Assisted Cooperative Driving at Non-Signalized Intersections
- Comparison of Cooperative Driving Strategies for CAVs at Signal-Free Intersections
- An Enhanced Graph Representation for Machine Learning Based Automatic Intersection Management
- Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking
- An Optimal Control Approach to Flocking
- A Scaled Smart City for Experimental Validation of Connected and Automated Vehicles
- Structural Results for Decentralized Stochastic Control with a Word-of-Mouth Communication
- Social Media and Misleading Information in a Democracy: A Mechanism Design Approach
- A Graph-based Conflict-free Cooperation Method for Intelligent Electric Vehicles at Unsignalized Intersections
- The Penetration Effect of Connected Automated Vehicles in Urban Traffic: An Energy Impact Study
- A Bi-Level Cooperative Driving Strategy Allowing Lane Changes
- Distributed Cooperative Driving in Multi-Intersection Road Networks
- Concurrent Optimization of Vehicle Dynamics and Powertrain Operation Using Connectivity and Automation
- Trajectory Planning for Connected and Automated Vehicles at Isolated Signalized Intersections under Mixed Traffic Environment
- A Decentralized Control Framework for Energy-Optimal Goal Assignment and Trajectory Generation
- Joint Time and Energy-Optimal Control of Connected Automated Vehicles at Signal-Free Intersections with Speed-Dependent Safety Guarantees
- Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP Formulation
- The Prescription Approach to Decentralized Stochastic Control with Word-of-Mouth Communication
- Optimal Cooperative Driving at Signal-Free Intersections with Polynomial-Time Complexity
- A Real-Time Optimal Eco-driving for Autonomous Vehicles Crossing Multiple Signalized Intersections
- Decentralized Optimal Merging Control for Connected and Automated Vehicles
- Reinforcement Learning Aided Sequential Optimization for Unsignalized Intersection Management of Robot Traffic
- Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles
- Latency-Robust Control of High-Speed Signal-Free Intersections
- A Closed-Form Analytical Solution for Optimal Coordination of Connected and Automated Vehicles
- Optimal Path Planning for Connected and Automated Vehicles at Urban Intersections
- Experimental Validation of Multi-lane Formation Control for Connected and Automated Vehicles in Multiple Scenarios
- Impact of Connected and Automated Vehicles in a Corridor
- Energy-Optimal Goal Assignment of Multi-Agent System with Goal Trajectories in Polynomials
- Data-Driven Distributed Intersection Management for Connected and Automated Vehicles
- A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections
- Traffic Control in a Mixed Autonomy Scenario at Urban Intersections: An Optimization-based Framework
- On the Traffic Impacts of Optimally Controlled Connected and Automated Vehicles